1A1-H03 Rough Terrain Locomotion Control of Hydraulically Actuated Hexapod Robot COMET-IV

Oku, Masaki; Koseki, Hidetaka; Ooroku, Hiroshi; Harada, Yuji; Futagami, Kosuke; Lin, Xiaowu; Tran, Duc Hien; Li, Ligun; Sakai, Satoru; Nonami, Kenzo

doi:10.1299/jsmermd.2008._1a1-h03_1

Cited by 5 publications

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“…Rönnau et al [5] introduces a model-based position/force controller, in which a computed torque control approach is used to decrease the nonlinear disturbances. Many other researchers such as Oku et al [6] and Pavone et al [7] utilize these strategies. The second approach is also broadly used in mobile robot control.…”

Section: Introductionmentioning

confidence: 99%

Compliance Control of a Legged Robot Based on Improved Adaptive Control: Method and Experiments

Zhu¹,

Jin²

2016

International Journal of Robotics and Automation

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For the purpose of impact reduction and stable walking of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. According With this characteristic, foot slipping in soft terrains can be avoided. This means the proposed strategy has great benefit for the adaptability and robustness of the hexapod walking robot in complex environment.

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Section: Introductionmentioning

confidence: 99%

Compliance Control of a Legged Robot Based on Improved Adaptive Control: Method and Experiments

Zhu¹,

Jin²

2016

International Journal of Robotics and Automation

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“….6) can be calculated from the torque of each link via the Jacobian matrix (J) of the actual rotation of velocity ( _ Θ) for each joint of the robot's leg and the leg axis velocity ( _ Γ). The Jacobian matrix of a leg is written as follows [3]:…”

mentioning

confidence: 99%

“…m is the actual mass of the leg's joint for link-k. G th n and G sh n are the torque gains, based on Fig. 4.3 [3], and are calculated as follows:…”

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confidence: 99%

“…The fixed value for each vertical sub-links (l nm ) and sub-angles (δ nm ) is estimated in accordance with the actual dimensions of the COMET-IV legs [3]. Table 4.2 summarizes the values of l nm and δ nm .…”

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confidence: 99%

“…4.3). On the other hand, F s is the linear vertical static force acting on each leg and is calculated using a linear interpolation method [3] as shown in Fig. 4.4; this calculation method is used because each leg touches the ground at a different position during the support phase of the ETT module system (will be discussed later).…”

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confidence: 99%

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Kinematics, Navigation, and Path Planning of Hexapod Robot

Nonami

Barai

Irawan

et al. 2013

Intelligent Systems, Control and Automation: Science and Engineering

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In Chap. 3, fundamental analysis on COMET-IV's leg kinematics and dynamics has been briefly discussed. On further research progress on this robot, the developed kinematics and dynamics are exploited to be used for end-effector force on foot detection and overall COMET-IV stability for force-attitude control purposes. In COMET-IV research progress, the total force on foot is calculated for center of mass (CoM) identification as an input for robot attitude during walking session. This method is based on shoulder coordination system (SCS) kinematics on vertical position and total of force on foot for each touching leg on the ground. On the other hand, the designed force delivery on foot value is categorized phase by phase and threshold sensing method is applied for dynamic trajectory walking named force threshold-based trajectory. This method is done to achieve the novel end-effector force sensorless method that is applicable for large-scale legged robot that required expensive sensor on each leg's tip.

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Optimal impedance control based on body inertia for a hydraulically driven hexapod robot walking on uneven and extremely soft terrain

Irawan

Nonami

2011

Journal of Field Robotics

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This paper presents the implementation of impedance control for a hydraulically driven hexapod robot named COMET-IV, which can walk on uneven and extremely soft terrain. To achieve the dynamic behavior of the hexapod robot, changes in center of mass and body attitude must be taken into consideration during the walking periods. Indirect force control via impedance control is used to address these issues. Two different impedance control schemes are developed and implemented: single-leg impedance control and center of massbased impedance control. In the case of single-leg impedance control, we derive the necessary impedance and adjust parameters (mass, damping, and stiffness) according to the robot legs' configuration. For center of massbased impedance control, we use the sum of the forces of the support legs as a control input (represented by the body's current center of mass) for the derived impedance control and adjust parameters based on the robot body's configuration. The virtual forces from the robot body's moment of inertia are adapted to achieve optimal control via a linear quadratic regulator method for the proposed indirect attitude control. In addition, a compliant switching mechanism is designed to ensure that the implementation of the controller is applicable to the tripod sequences of force-based walking modules. Evaluation and verification tests were conducted in the laboratory and the actual field with uneven terrain and extremely soft surfaces. C 2011 Wiley Periodicals, Inc.

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1A1-H03 Rough Terrain Locomotion Control of Hydraulically Actuated Hexapod Robot COMET-IV

Cited by 5 publications

References 0 publications

Compliance Control of a Legged Robot Based on Improved Adaptive Control: Method and Experiments

Compliance Control of a Legged Robot Based on Improved Adaptive Control: Method and Experiments

Kinematics, Navigation, and Path Planning of Hexapod Robot

Optimal impedance control based on body inertia for a hydraulically driven hexapod robot walking on uneven and extremely soft terrain

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